I have the formula (part of the formulation for a homography):
and I don't understand how it can work given:
- $R$ is size 3x3
- $n^T$ is size 3x1
- $x_p$ is size 3x1
- $I$ is size 3x3
- $t$ is size 3x3
The result should be a 3x3 matrix, but I cannot multiply a $x_p$ (3x1) with $I$ (3x3) for starters? Is there a different precedence? If a result is a 1x1 matrix should I consider it a scalar?